CN207657929U - A kind of robot climbing mechanism - Google Patents
A kind of robot climbing mechanism Download PDFInfo
- Publication number
- CN207657929U CN207657929U CN201721913783.8U CN201721913783U CN207657929U CN 207657929 U CN207657929 U CN 207657929U CN 201721913783 U CN201721913783 U CN 201721913783U CN 207657929 U CN207657929 U CN 207657929U
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- China
- Prior art keywords
- chassis
- shaft
- trains
- double
- motor
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Abstract
The utility model is related to climbing mechanisms, in particular it is a kind of robot climbing mechanism, including chassis, two driving devices, four trains, four electric telescopic rods and two double-acting shock absorbers, two driving devices are bolted respectively in the left and right ends of chassis upper surface, two trains of each articulated connection in the chassis left and right ends, a double-acting shock absorber is bolted in the left and right ends of the chassis lower face respectively, one electric telescopic rod of each articulated connection in the both ends of the double-acting shock absorber, the outer end of four electric telescopic rods is hingedly connected the middle-end in four trains, two driving devices are respectively connect with two trains by gear drive；A kind of robot climbing mechanism can be changed the angle between two trains by electric telescopic rod, have good passability and grade climbing performance；It is provided with double-acting shock absorber, it can be to impact force that train is subject into row buffering.
Description
Technical field
The utility model is related to climbing mechanisms, are in particular a kind of robot climbing mechanisms.
Background technology
Traditional wheeled robot often only adapts to gentle road since wheel base and chassis road clearance can not be adjusted
Face can not climb.And traditional wheel undercarriage is only capable of realizing the bradyseism of upper and lower directions, cannot be subject to robot
It is injury-free to be unable to ensure robot interior device into row buffering for impact force.
Utility model content
The purpose of this utility model is to provide a kind of robot climbing mechanism, can change two biographies by electric telescopic rod
Angle between driving wheel system can also adjust the road clearance on chassis, have to can not only change the spacing of front and back wheel
Good passability and grade climbing performance；It is provided with double-acting shock absorber, it can be to impact force that train is subject into row buffering.
The purpose of this utility model is achieved through the following technical solutions：
A kind of robot climbing mechanism, including chassis, two driving devices, four trains, four electric telescopic rods
With two double-acting shock absorbers, two driving devices are bolted respectively on the left and right ends of chassis upper surface, the chassis
Respectively two trains of articulated connection, the left and right ends of the chassis lower face are bolted one pair respectively for left and right ends
To damper, respectively one electric telescopic rod of articulated connection, the outer end of four electric telescopic rods are divided at the both ends of the double-acting shock absorber
It is not hingedly connected to the middle-end of four trains, two driving devices are respectively connect with two trains by gear drive.
As advanced optimizing for the technical program, a kind of robot climbing mechanism of the utility model, the driving device
Including motor, motor-driven gear and motor rack, the motor-driven gear is fixedly connected on the transmission shaft of motor, the electricity
Machine is bolted on motor rack, and the motor rack is bolted on chassis.
As advanced optimizing for the technical program, a kind of robot climbing mechanism of the utility model, the train
Including pedestal, chain wheel I, driven gear, wheel, chain wheel II and chain, the both ends of the pedestal are rotatably connected to I He of shaft respectively
Shaft II, the chain wheel I and driven gear are fixedly connected in shaft I, and the wheel and chain wheel II are fixedly connected with and are turning
On axis II, the chain wheel I is connected with chain wheel II by chain, and the motor-driven gear is engaged with two driven gears, described
Pedestal is hinged on by shaft I on chassis.
As advanced optimizing for the technical program, a kind of robot climbing mechanism of the utility model, the bidirectional damping
Device includes that spring pocket, two set end caps, two telescopic shaft poles, cushion socket and spring, the both ends of the spring pocket are respectively slidably connected
The both ends of one telescopic shaft pole, the spring pocket connect a set end cap by screw-thread fit respectively, and the cushion socket welding connects
It is connected on spring pocket, the cushion socket is bolted in the lower end on chassis, and the spring is plugged in spring pocket, the bullet
Spring is located between two telescopic shaft poles.
A kind of robot climbing mechanism of the utility model has the beneficial effect that：
A kind of robot climbing mechanism of the utility model, can be by between electric telescopic rod two trains of change
Angle can also adjust the road clearance on chassis, have good passability to can not only change the spacing of front and back wheel
And grade climbing performance；It is provided with double-acting shock absorber, it can be to impact force that train is subject into row buffering.
Description of the drawings
The utility model is described in more detail with specific implementation method below in conjunction with the accompanying drawings.
Fig. 1 is the overall structure diagram of the utility model；
Fig. 2 is the chassis structure schematic diagram of the utility model；
Fig. 3 is the driving device structure schematic diagram one of the utility model；
Fig. 4 is the driving device structure schematic diagram two of the utility model；
Fig. 5 is the utility model electric telescopic rod and the attachment structure schematic diagram of double-acting shock absorber；
Fig. 6 is the double-acting shock absorber structural schematic diagram of the utility model；
Fig. 7 is the double-acting shock absorber half section structure diagram of the utility model.
In figure：Chassis 1；Driving device 2；Motor 2-1；Motor-driven gear 2-2；Motor rack 2-3；Train 3；Pedestal
3-1；Chain wheel I 3-2；Driven gear 3-3；Wheel 3-4；Chain wheel II 3-5；Chain 3-6；Electric telescopic rod 4；Double-acting shock absorber 5；Bullet
Spring covers 5-1；Cover end cap 5-2；Telescopic shaft pole 5-3；Cushion socket 5-4；Spring 5-5.
Specific implementation mode
The utility model is described in further detail below in conjunction with the accompanying drawings.
Specific implementation mode one：
Illustrate present embodiment, a kind of robot climbing mechanism, including 1, two, chassis driving device with reference to Fig. 1-7
2, four trains, 3, four electric telescopic rods 4 and two double-acting shock absorbers 5, two driving devices 2 are connected by bolt respectively
It is connected on the left and right ends of 1 upper surface of chassis, two trains 3 of each articulated connection in 1 left and right ends of the chassis, the chassis 1
A double-acting shock absorber 5 is bolted in the left and right ends of lower face respectively, and the both ends of the double-acting shock absorber 5 are each hingedly to be connected
Connect an electric telescopic rod 4, the outer end of four electric telescopic rods 4 is hingedly connected the middle-end in four trains 3, two
Driving device 2 is respectively connect with two trains 3 by gear drive；When in use, two drivings fill robot climbing mechanism
2 trains 3 for respectively driving the left and right sides are set, electric telescopic rod 4 can adjust two trains 3 of homonymy when flexible
Between angle, can not only change the spacing of front and back wheel 3-4, while the height on chassis 1 can be changed, so realize chassis
The variation of 1 road clearance adapts to the slope of differing tilt angles with this；Robot climbing mechanism is moving forward or back motion process
In, when wheel 3-4 strikes the barrier that can not be crossed, double-acting shock absorber 5 by spring 5-5 it is flexible to train 3 by
The impact force arrived is into row buffering.
Specific implementation mode two：
Illustrate that present embodiment, present embodiment are described further embodiment one with reference to Fig. 1-7, the drive
Dynamic device 2 includes that motor 2-1, motor-driven gear 2-2 and motor rack 2-3, the motor-driven gear 2-2 are fixedly connected on electricity
On the transmission shaft of machine 2-1, the motor 2-1 is bolted on motor rack 2-3, and the motor rack 2-3 is connected by bolt
It is connected on chassis 1.
Specific implementation mode three：
Illustrate that present embodiment, present embodiment are described further embodiment two with reference to Fig. 1-7, the biography
Driving wheel system 3 includes pedestal 3-1, chain wheel I 3-2, driven gear 3-3, wheel 3-4, chain wheel II 3-5 and chain 3-6, the pedestal 3-
1 both ends are rotatably connected to shaft I and shaft II respectively, and the chain wheel I 3-2 and driven gear 3-3 are fixedly connected in shaft I
On, the wheel 3-4 and chain wheel II 3-5 are fixedly connected in shaft II, and the chain wheel I 3-2 and chain wheel II 3-5 pass through chain
3-6 connections, the motor-driven gear 2-2 are engaged with two driven gear 3-3, and the pedestal 3-1 is hinged on bottom by shaft I
On disk 1；When work, motor-driven gear 2-2 drives driven gear 3-3 rotations, driven gear 3-3 to drive shaft I and chain wheel I 3-
2 rotations, chain wheel I 3-2 are rotated through II 3-5 of chain 3-6 transmission belts movable sprocket, shaft II and wheel 3-4.
Specific implementation mode four：
Illustrate that present embodiment, present embodiment are described further embodiment one with reference to Fig. 1-7, it is described double
Include spring pocket 5-1, two set end cap 5-2, two telescopic shaft pole 5-3, cushion socket 5-4 and spring 5-5 to damper 5, it is described
The both ends of spring pocket 5-1 are respectively slidably connected a telescopic shaft pole 5-3, and the both ends of the spring pocket 5-1 pass through screw-thread fit respectively
The set of connection one end cap 5-2, the cushion socket 5-4 are welded to connect on spring pocket 5-1, and the cushion socket 5-4 is connected by bolt
Be connected on the lower end on chassis 1, the spring 5-5 is plugged in spring pocket 5-1, the spring 5-5 be located at two telescopic shaft pole 5-3 it
Between；In use, the impact force that spring 5-5 is subject to train 3 is into row buffering, two set end cap 5-2 are used for flexible by two
Shaft 5-3 is connected in spring pocket 5-1.
A kind of robot climbing mechanism of the utility model, its working principle is that：In use, two driving devices 2 are distinguished
Drive the train 3 of the left and right sides, electric telescopic rod 4 that can be adjusted when flexible between two trains 3 of homonymy
Angle can not only change the spacing of front and back wheel 3-4, while can change the height on chassis 1, and then realize that chassis 1 is liftoff
The variation in gap adapts to the slope of differing tilt angles with this；Robot climbing mechanism in moving forward or back motion process, when
When wheel 3-4 strikes the barrier that can not be crossed, double-acting shock absorber 5 is rushed by the way that spring 5-5 is flexible to what train 3 was subject to
Power is hit into row buffering.
Certainly, above description is not limitation of the utility model, and the utility model is also not limited to the example above, this skill
The variations, modifications, additions or substitutions that the those of ordinary skill in art field is made in the essential scope of the utility model, also belong to
In the scope of protection of the utility model.
Claims (4)
1. a kind of robot climbing mechanism, including chassis (1), two driving devices (2), four trains (3), four it is electronic
Telescopic rod (4) and two double-acting shock absorbers (5), it is characterised in that：Two driving devices (2) are bolted respectively on chassis
(1) left and right ends of upper surface, chassis (1) left and right ends are respectively articulated and connected two trains (3), the chassis (1)
A double-acting shock absorber (5) is bolted in the left and right ends of lower face respectively, and the both ends of the double-acting shock absorber (5) are respectively cut with scissors
An electric telescopic rod (4) is connect in succession, and the outer end of four electric telescopic rods (4) is hingedly connected in four trains (3)
Middle-end, two driving devices (2) are respectively connect with two trains (3) by gear drive.
2. a kind of robot climbing mechanism according to claim 1, it is characterised in that：The driving device (2) includes electricity
Machine (2-1), motor-driven gear (2-2) and motor rack (2-3), the motor-driven gear (2-2) are fixedly connected on motor (2-
1) on transmission shaft, the motor (2-1) is bolted on motor rack (2-3), and the motor rack (2-3) passes through bolt
It is connected on chassis (1).
3. a kind of robot climbing mechanism according to claim 2, it is characterised in that：The train (3) includes axis
Frame (3-1), chain wheel I (3-2), driven gear (3-3), wheel (3-4), chain wheel II (3-5) and chain (3-6), the pedestal (3-
1) both ends are rotatably connected to shaft I and shaft II respectively, and the chain wheel I (3-2) and driven gear (3-3) are fixedly connected with
In shaft I, the wheel (3-4) and chain wheel II (3-5) are fixedly connected in shaft II, the chain wheel I (3-2) and chain wheel II
(3-5) is connected by chain (3-6), and the motor-driven gear (2-2) is engaged with two driven gears (3-3), the pedestal
(3-1) is hinged on by shaft I on chassis (1).
4. a kind of robot climbing mechanism according to claim 1, it is characterised in that：The double-acting shock absorber (5) includes
Spring pocket (5-1), two set end caps (5-2), two telescopic shaft poles (5-3), cushion socket (5-4) and spring (5-5), the spring
The both ends of set (5-1) are respectively slidably connected a telescopic shaft pole (5-3), and the both ends of the spring pocket (5-1) are matched by screw thread respectively
One set end cap (5-2) of connection is closed, the cushion socket (5-4) is welded to connect on spring pocket (5-1), the cushion socket (5-4)
The lower end in chassis (1) is bolted, the spring (5-5) is plugged in spring pocket (5-1), spring (5-5) position
Between two telescopic shaft poles (5-3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721913783.8U CN207657929U (en) | 2017-12-31 | 2017-12-31 | A kind of robot climbing mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721913783.8U CN207657929U (en) | 2017-12-31 | 2017-12-31 | A kind of robot climbing mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207657929U true CN207657929U (en) | 2018-07-27 |
Family
ID=62944601
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721913783.8U Expired - Fee Related CN207657929U (en) | 2017-12-31 | 2017-12-31 | A kind of robot climbing mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207657929U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112483768A (en) * | 2020-11-13 | 2021-03-12 | 广东韶测检测有限公司 | Sewage pipeline detection robot with water based on mechanical driving mechanism |
| CN113199860A (en) * | 2021-05-26 | 2021-08-03 | 重庆长虹印务有限公司 | Hand-held type printing cylinder scrubbing equipment and using method thereof |
| CN114506390A (en) * | 2021-12-28 | 2022-05-17 | 高维智控机器人科技(苏州)有限公司 | Four-wheel carrying crawler type mobile chassis structure |
| CN116039313A (en) * | 2023-03-29 | 2023-05-02 | 哈尔滨学院 | Lunar robot chassis |
-
2017
- 2017-12-31 CN CN201721913783.8U patent/CN207657929U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112483768A (en) * | 2020-11-13 | 2021-03-12 | 广东韶测检测有限公司 | Sewage pipeline detection robot with water based on mechanical driving mechanism |
| CN113199860A (en) * | 2021-05-26 | 2021-08-03 | 重庆长虹印务有限公司 | Hand-held type printing cylinder scrubbing equipment and using method thereof |
| CN114506390A (en) * | 2021-12-28 | 2022-05-17 | 高维智控机器人科技(苏州)有限公司 | Four-wheel carrying crawler type mobile chassis structure |
| CN114506390B (en) * | 2021-12-28 | 2023-08-11 | 高维智控机器人科技(苏州)有限公司 | Four-wheel carrying crawler type movable chassis structure |
| CN116039313A (en) * | 2023-03-29 | 2023-05-02 | 哈尔滨学院 | Lunar robot chassis |
| CN116039313B (en) * | 2023-03-29 | 2023-10-13 | 哈尔滨学院 | Lunar robot chassis |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180727 Termination date: 20181231 |